Abstract
This paper presents a SANTOS™ 25 degree-of-freedom (DOF) hand model and the forward and inverse kinematic analysis. The Denavit-Hartenberg (D-H) method is used to define the position of the end- effector (fingertip). In the SANTOS™ hand model each finger has different constraints and movements (e.g., the middle finger in distal Interphalangeal (DIP) joint can move in Flexion/Extension (F/E) with a range 0-100 degrees, and the thumb in interphalangeal (IP) joint can rotate in F/E with arrange of 15H/80). Including hand model SANTOS™ has over 100 DOFs and the forward and inverse kinematics have been studied. Optimization-based dynamic motion prediction will be used to consider different gestures for hand grasping.
Original language | English |
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Journal | SAE Technical Papers |
DOIs | |
State | Published - 2005 |
Event | Digital Human Modeling for Design and Engineering Symposium - Iowa City, IA, United States Duration: Jun 14 2005 → Jun 16 2005 |
Keywords
- Keywords forward and inverse kinematics
- grasping
- hand model
- virtual environment